ActuatorStatistics.h

Go to the documentation of this file.

/* Auto-generated by genmsg_cpp for file /tmp/buildd/ros-diamondback-pr2-mechanism-1.4.4/debian/ros-diamondback-pr2-mechanism/opt/ros/diamondback/stacks/pr2_mechanism/pr2_mechanism_msgs/msg/ActuatorStatistics.msg */
#ifndef PR2_MECHANISM_MSGS_MESSAGE_ACTUATORSTATISTICS_H
#define PR2_MECHANISM_MSGS_MESSAGE_ACTUATORSTATISTICS_H
#include <string>
#include <vector>
#include <ostream>
#include "ros/serialization.h"
#include "ros/builtin_message_traits.h"
#include "ros/message_operations.h"
#include "ros/message.h"
#include "ros/time.h"


namespace pr2_mechanism_msgs
{
template <class ContainerAllocator>
struct ActuatorStatistics_ : public ros::Message
{
  typedef ActuatorStatistics_<ContainerAllocator> Type;

  ActuatorStatistics_()
  : name()
  , device_id(0)
  , timestamp()
  , encoder_count(0)
  , encoder_offset(0.0)
  , position(0.0)
  , encoder_velocity(0.0)
  , velocity(0.0)
  , calibration_reading(false)
  , calibration_rising_edge_valid(false)
  , calibration_falling_edge_valid(false)
  , last_calibration_rising_edge(0.0)
  , last_calibration_falling_edge(0.0)
  , is_enabled(false)
  , halted(false)
  , last_commanded_current(0.0)
  , last_commanded_effort(0.0)
  , last_executed_current(0.0)
  , last_executed_effort(0.0)
  , last_measured_current(0.0)
  , last_measured_effort(0.0)
  , motor_voltage(0.0)
  , num_encoder_errors(0)
  {
  }

  ActuatorStatistics_(const ContainerAllocator& _alloc)
  : name(_alloc)
  , device_id(0)
  , timestamp()
  , encoder_count(0)
  , encoder_offset(0.0)
  , position(0.0)
  , encoder_velocity(0.0)
  , velocity(0.0)
  , calibration_reading(false)
  , calibration_rising_edge_valid(false)
  , calibration_falling_edge_valid(false)
  , last_calibration_rising_edge(0.0)
  , last_calibration_falling_edge(0.0)
  , is_enabled(false)
  , halted(false)
  , last_commanded_current(0.0)
  , last_commanded_effort(0.0)
  , last_executed_current(0.0)
  , last_executed_effort(0.0)
  , last_measured_current(0.0)
  , last_measured_effort(0.0)
  , motor_voltage(0.0)
  , num_encoder_errors(0)
  {
  }

  typedef std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other >  _name_type;
  std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other >  name;

  typedef int32_t _device_id_type;
  int32_t device_id;

  typedef ros::Time _timestamp_type;
  ros::Time timestamp;

  typedef int32_t _encoder_count_type;
  int32_t encoder_count;

  typedef double _encoder_offset_type;
  double encoder_offset;

  typedef double _position_type;
  double position;

  typedef double _encoder_velocity_type;
  double encoder_velocity;

  typedef double _velocity_type;
  double velocity;

  typedef uint8_t _calibration_reading_type;
  uint8_t calibration_reading;

  typedef uint8_t _calibration_rising_edge_valid_type;
  uint8_t calibration_rising_edge_valid;

  typedef uint8_t _calibration_falling_edge_valid_type;
  uint8_t calibration_falling_edge_valid;

  typedef double _last_calibration_rising_edge_type;
  double last_calibration_rising_edge;

  typedef double _last_calibration_falling_edge_type;
  double last_calibration_falling_edge;

  typedef uint8_t _is_enabled_type;
  uint8_t is_enabled;

  typedef uint8_t _halted_type;
  uint8_t halted;

  typedef double _last_commanded_current_type;
  double last_commanded_current;

  typedef double _last_commanded_effort_type;
  double last_commanded_effort;

  typedef double _last_executed_current_type;
  double last_executed_current;

  typedef double _last_executed_effort_type;
  double last_executed_effort;

  typedef double _last_measured_current_type;
  double last_measured_current;

  typedef double _last_measured_effort_type;
  double last_measured_effort;

  typedef double _motor_voltage_type;
  double motor_voltage;

  typedef int32_t _num_encoder_errors_type;
  int32_t num_encoder_errors;


private:
  static const char* __s_getDataType_() { return "pr2_mechanism_msgs/ActuatorStatistics"; }
public:
  ROS_DEPRECATED static const std::string __s_getDataType() { return __s_getDataType_(); }

  ROS_DEPRECATED const std::string __getDataType() const { return __s_getDataType_(); }

private:
  static const char* __s_getMD5Sum_() { return "c37184273b29627de29382f1d3670175"; }
public:
  ROS_DEPRECATED static const std::string __s_getMD5Sum() { return __s_getMD5Sum_(); }

  ROS_DEPRECATED const std::string __getMD5Sum() const { return __s_getMD5Sum_(); }

private:
  static const char* __s_getMessageDefinition_() { return "# This message contains the state of an actuator on the pr2 robot.\n\
# An actuator contains a motor and an encoder, and is connected\n\
# to a joint by a transmission\n\
\n\
# the name of the actuator\n\
string name\n\
\n\
# the sequence number of the MCB in the ethercat chain. \n\
# the first device in the chain gets deviced_id zero\n\
int32 device_id\n\
\n\
# the time at which this actuator state was measured\n\
time timestamp\n\
\n\
# the encoder position, represented by the number of encoder ticks\n\
int32 encoder_count\n\
\n\
# The angular offset (in radians) that is added to the encoder reading, \n\
# to get to the position of the actuator. This number is computed when the referece\n\
# sensor is triggered during the calibration phase\n\
float64 encoder_offset\n\
\n\
# the encoder position in radians\n\
float64 position\n\
\n\
# the encoder velocity in encoder ticks per second\n\
float64 encoder_velocity\n\
\n\
# the encoder velocity in radians per second\n\
float64 velocity\n\
\n\
# the value of the calibration reading: low (false) or high (true)\n\
bool calibration_reading\n\
\n\
# bool to indicate if the joint already triggered the rising/falling edge of the reference sensor\n\
bool calibration_rising_edge_valid\n\
bool calibration_falling_edge_valid\n\
\n\
# the encoder position when the last rising/falling edge was observed. \n\
# only read this value when the calibration_rising/falling_edge_valid is true\n\
float64 last_calibration_rising_edge\n\
float64 last_calibration_falling_edge\n\
\n\
# flag to indicate if this actuator is enabled or not. \n\
# An actuator can only be commanded when it is enabled.\n\
bool is_enabled\n\
\n\
# indicates if the motor is halted. A motor can be halted because of a voltage or communication problem\n\
bool halted\n\
\n\
# the last current/effort command that was requested\n\
float64 last_commanded_current\n\
float64 last_commanded_effort\n\
\n\
# the last current/effort command that was executed by the actuator\n\
float64 last_executed_current\n\
float64 last_executed_effort\n\
\n\
# the last current/effort that was measured by the actuator\n\
float64 last_measured_current\n\
float64 last_measured_effort\n\
\n\
# the motor voltate\n\
float64 motor_voltage\n\
\n\
# the number of detected encoder problems \n\
int32 num_encoder_errors\n\
\n\
\n\
"; }
public:
  ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); }

  ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); }

  ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const
  {
    ros::serialization::OStream stream(write_ptr, 1000000000);
    ros::serialization::serialize(stream, name);
    ros::serialization::serialize(stream, device_id);
    ros::serialization::serialize(stream, timestamp);
    ros::serialization::serialize(stream, encoder_count);
    ros::serialization::serialize(stream, encoder_offset);
    ros::serialization::serialize(stream, position);
    ros::serialization::serialize(stream, encoder_velocity);
    ros::serialization::serialize(stream, velocity);
    ros::serialization::serialize(stream, calibration_reading);
    ros::serialization::serialize(stream, calibration_rising_edge_valid);
    ros::serialization::serialize(stream, calibration_falling_edge_valid);
    ros::serialization::serialize(stream, last_calibration_rising_edge);
    ros::serialization::serialize(stream, last_calibration_falling_edge);
    ros::serialization::serialize(stream, is_enabled);
    ros::serialization::serialize(stream, halted);
    ros::serialization::serialize(stream, last_commanded_current);
    ros::serialization::serialize(stream, last_commanded_effort);
    ros::serialization::serialize(stream, last_executed_current);
    ros::serialization::serialize(stream, last_executed_effort);
    ros::serialization::serialize(stream, last_measured_current);
    ros::serialization::serialize(stream, last_measured_effort);
    ros::serialization::serialize(stream, motor_voltage);
    ros::serialization::serialize(stream, num_encoder_errors);
    return stream.getData();
  }

  ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr)
  {
    ros::serialization::IStream stream(read_ptr, 1000000000);
    ros::serialization::deserialize(stream, name);
    ros::serialization::deserialize(stream, device_id);
    ros::serialization::deserialize(stream, timestamp);
    ros::serialization::deserialize(stream, encoder_count);
    ros::serialization::deserialize(stream, encoder_offset);
    ros::serialization::deserialize(stream, position);
    ros::serialization::deserialize(stream, encoder_velocity);
    ros::serialization::deserialize(stream, velocity);
    ros::serialization::deserialize(stream, calibration_reading);
    ros::serialization::deserialize(stream, calibration_rising_edge_valid);
    ros::serialization::deserialize(stream, calibration_falling_edge_valid);
    ros::serialization::deserialize(stream, last_calibration_rising_edge);
    ros::serialization::deserialize(stream, last_calibration_falling_edge);
    ros::serialization::deserialize(stream, is_enabled);
    ros::serialization::deserialize(stream, halted);
    ros::serialization::deserialize(stream, last_commanded_current);
    ros::serialization::deserialize(stream, last_commanded_effort);
    ros::serialization::deserialize(stream, last_executed_current);
    ros::serialization::deserialize(stream, last_executed_effort);
    ros::serialization::deserialize(stream, last_measured_current);
    ros::serialization::deserialize(stream, last_measured_effort);
    ros::serialization::deserialize(stream, motor_voltage);
    ros::serialization::deserialize(stream, num_encoder_errors);
    return stream.getData();
  }

  ROS_DEPRECATED virtual uint32_t serializationLength() const
  {
    uint32_t size = 0;
    size += ros::serialization::serializationLength(name);
    size += ros::serialization::serializationLength(device_id);
    size += ros::serialization::serializationLength(timestamp);
    size += ros::serialization::serializationLength(encoder_count);
    size += ros::serialization::serializationLength(encoder_offset);
    size += ros::serialization::serializationLength(position);
    size += ros::serialization::serializationLength(encoder_velocity);
    size += ros::serialization::serializationLength(velocity);
    size += ros::serialization::serializationLength(calibration_reading);
    size += ros::serialization::serializationLength(calibration_rising_edge_valid);
    size += ros::serialization::serializationLength(calibration_falling_edge_valid);
    size += ros::serialization::serializationLength(last_calibration_rising_edge);
    size += ros::serialization::serializationLength(last_calibration_falling_edge);
    size += ros::serialization::serializationLength(is_enabled);
    size += ros::serialization::serializationLength(halted);
    size += ros::serialization::serializationLength(last_commanded_current);
    size += ros::serialization::serializationLength(last_commanded_effort);
    size += ros::serialization::serializationLength(last_executed_current);
    size += ros::serialization::serializationLength(last_executed_effort);
    size += ros::serialization::serializationLength(last_measured_current);
    size += ros::serialization::serializationLength(last_measured_effort);
    size += ros::serialization::serializationLength(motor_voltage);
    size += ros::serialization::serializationLength(num_encoder_errors);
    return size;
  }

  typedef boost::shared_ptr< ::pr2_mechanism_msgs::ActuatorStatistics_<ContainerAllocator> > Ptr;
  typedef boost::shared_ptr< ::pr2_mechanism_msgs::ActuatorStatistics_<ContainerAllocator>  const> ConstPtr;
}; // struct ActuatorStatistics
typedef  ::pr2_mechanism_msgs::ActuatorStatistics_<std::allocator<void> > ActuatorStatistics;

typedef boost::shared_ptr< ::pr2_mechanism_msgs::ActuatorStatistics> ActuatorStatisticsPtr;
typedef boost::shared_ptr< ::pr2_mechanism_msgs::ActuatorStatistics const> ActuatorStatisticsConstPtr;


template<typename ContainerAllocator>
std::ostream& operator<<(std::ostream& s, const  ::pr2_mechanism_msgs::ActuatorStatistics_<ContainerAllocator> & v)
{
  ros::message_operations::Printer< ::pr2_mechanism_msgs::ActuatorStatistics_<ContainerAllocator> >::stream(s, "", v);
  return s;}

} // namespace pr2_mechanism_msgs

namespace ros
{
namespace message_traits
{
template<class ContainerAllocator>
struct MD5Sum< ::pr2_mechanism_msgs::ActuatorStatistics_<ContainerAllocator> > {
  static const char* value() 
  {
    return "c37184273b29627de29382f1d3670175";
  }

  static const char* value(const  ::pr2_mechanism_msgs::ActuatorStatistics_<ContainerAllocator> &) { return value(); } 
  static const uint64_t static_value1 = 0xc37184273b29627dULL;
  static const uint64_t static_value2 = 0xe29382f1d3670175ULL;
};

template<class ContainerAllocator>
struct DataType< ::pr2_mechanism_msgs::ActuatorStatistics_<ContainerAllocator> > {
  static const char* value() 
  {
    return "pr2_mechanism_msgs/ActuatorStatistics";
  }

  static const char* value(const  ::pr2_mechanism_msgs::ActuatorStatistics_<ContainerAllocator> &) { return value(); } 
};

template<class ContainerAllocator>
struct Definition< ::pr2_mechanism_msgs::ActuatorStatistics_<ContainerAllocator> > {
  static const char* value() 
  {
    return "# This message contains the state of an actuator on the pr2 robot.\n\
# An actuator contains a motor and an encoder, and is connected\n\
# to a joint by a transmission\n\
\n\
# the name of the actuator\n\
string name\n\
\n\
# the sequence number of the MCB in the ethercat chain. \n\
# the first device in the chain gets deviced_id zero\n\
int32 device_id\n\
\n\
# the time at which this actuator state was measured\n\
time timestamp\n\
\n\
# the encoder position, represented by the number of encoder ticks\n\
int32 encoder_count\n\
\n\
# The angular offset (in radians) that is added to the encoder reading, \n\
# to get to the position of the actuator. This number is computed when the referece\n\
# sensor is triggered during the calibration phase\n\
float64 encoder_offset\n\
\n\
# the encoder position in radians\n\
float64 position\n\
\n\
# the encoder velocity in encoder ticks per second\n\
float64 encoder_velocity\n\
\n\
# the encoder velocity in radians per second\n\
float64 velocity\n\
\n\
# the value of the calibration reading: low (false) or high (true)\n\
bool calibration_reading\n\
\n\
# bool to indicate if the joint already triggered the rising/falling edge of the reference sensor\n\
bool calibration_rising_edge_valid\n\
bool calibration_falling_edge_valid\n\
\n\
# the encoder position when the last rising/falling edge was observed. \n\
# only read this value when the calibration_rising/falling_edge_valid is true\n\
float64 last_calibration_rising_edge\n\
float64 last_calibration_falling_edge\n\
\n\
# flag to indicate if this actuator is enabled or not. \n\
# An actuator can only be commanded when it is enabled.\n\
bool is_enabled\n\
\n\
# indicates if the motor is halted. A motor can be halted because of a voltage or communication problem\n\
bool halted\n\
\n\
# the last current/effort command that was requested\n\
float64 last_commanded_current\n\
float64 last_commanded_effort\n\
\n\
# the last current/effort command that was executed by the actuator\n\
float64 last_executed_current\n\
float64 last_executed_effort\n\
\n\
# the last current/effort that was measured by the actuator\n\
float64 last_measured_current\n\
float64 last_measured_effort\n\
\n\
# the motor voltate\n\
float64 motor_voltage\n\
\n\
# the number of detected encoder problems \n\
int32 num_encoder_errors\n\
\n\
\n\
";
  }

  static const char* value(const  ::pr2_mechanism_msgs::ActuatorStatistics_<ContainerAllocator> &) { return value(); } 
};

} // namespace message_traits
} // namespace ros

namespace ros
{
namespace serialization
{

template<class ContainerAllocator> struct Serializer< ::pr2_mechanism_msgs::ActuatorStatistics_<ContainerAllocator> >
{
  template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
  {
    stream.next(m.name);
    stream.next(m.device_id);
    stream.next(m.timestamp);
    stream.next(m.encoder_count);
    stream.next(m.encoder_offset);
    stream.next(m.position);
    stream.next(m.encoder_velocity);
    stream.next(m.velocity);
    stream.next(m.calibration_reading);
    stream.next(m.calibration_rising_edge_valid);
    stream.next(m.calibration_falling_edge_valid);
    stream.next(m.last_calibration_rising_edge);
    stream.next(m.last_calibration_falling_edge);
    stream.next(m.is_enabled);
    stream.next(m.halted);
    stream.next(m.last_commanded_current);
    stream.next(m.last_commanded_effort);
    stream.next(m.last_executed_current);
    stream.next(m.last_executed_effort);
    stream.next(m.last_measured_current);
    stream.next(m.last_measured_effort);
    stream.next(m.motor_voltage);
    stream.next(m.num_encoder_errors);
  }

  ROS_DECLARE_ALLINONE_SERIALIZER;
}; // struct ActuatorStatistics_
} // namespace serialization
} // namespace ros

namespace ros
{
namespace message_operations
{

template<class ContainerAllocator>
struct Printer< ::pr2_mechanism_msgs::ActuatorStatistics_<ContainerAllocator> >
{
  template<typename Stream> static void stream(Stream& s, const std::string& indent, const  ::pr2_mechanism_msgs::ActuatorStatistics_<ContainerAllocator> & v) 
  {
    s << indent << "name: ";
    Printer<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > >::stream(s, indent + "  ", v.name);
    s << indent << "device_id: ";
    Printer<int32_t>::stream(s, indent + "  ", v.device_id);
    s << indent << "timestamp: ";
    Printer<ros::Time>::stream(s, indent + "  ", v.timestamp);
    s << indent << "encoder_count: ";
    Printer<int32_t>::stream(s, indent + "  ", v.encoder_count);
    s << indent << "encoder_offset: ";
    Printer<double>::stream(s, indent + "  ", v.encoder_offset);
    s << indent << "position: ";
    Printer<double>::stream(s, indent + "  ", v.position);
    s << indent << "encoder_velocity: ";
    Printer<double>::stream(s, indent + "  ", v.encoder_velocity);
    s << indent << "velocity: ";
    Printer<double>::stream(s, indent + "  ", v.velocity);
    s << indent << "calibration_reading: ";
    Printer<uint8_t>::stream(s, indent + "  ", v.calibration_reading);
    s << indent << "calibration_rising_edge_valid: ";
    Printer<uint8_t>::stream(s, indent + "  ", v.calibration_rising_edge_valid);
    s << indent << "calibration_falling_edge_valid: ";
    Printer<uint8_t>::stream(s, indent + "  ", v.calibration_falling_edge_valid);
    s << indent << "last_calibration_rising_edge: ";
    Printer<double>::stream(s, indent + "  ", v.last_calibration_rising_edge);
    s << indent << "last_calibration_falling_edge: ";
    Printer<double>::stream(s, indent + "  ", v.last_calibration_falling_edge);
    s << indent << "is_enabled: ";
    Printer<uint8_t>::stream(s, indent + "  ", v.is_enabled);
    s << indent << "halted: ";
    Printer<uint8_t>::stream(s, indent + "  ", v.halted);
    s << indent << "last_commanded_current: ";
    Printer<double>::stream(s, indent + "  ", v.last_commanded_current);
    s << indent << "last_commanded_effort: ";
    Printer<double>::stream(s, indent + "  ", v.last_commanded_effort);
    s << indent << "last_executed_current: ";
    Printer<double>::stream(s, indent + "  ", v.last_executed_current);
    s << indent << "last_executed_effort: ";
    Printer<double>::stream(s, indent + "  ", v.last_executed_effort);
    s << indent << "last_measured_current: ";
    Printer<double>::stream(s, indent + "  ", v.last_measured_current);
    s << indent << "last_measured_effort: ";
    Printer<double>::stream(s, indent + "  ", v.last_measured_effort);
    s << indent << "motor_voltage: ";
    Printer<double>::stream(s, indent + "  ", v.motor_voltage);
    s << indent << "num_encoder_errors: ";
    Printer<int32_t>::stream(s, indent + "  ", v.num_encoder_errors);
  }
};


} // namespace message_operations
} // namespace ros

#endif // PR2_MECHANISM_MSGS_MESSAGE_ACTUATORSTATISTICS_H

---

pr2_mechanism_msgs
Author(s): Stuart Glaser sglaser@willowgarage.com, Wim Meeussen
autogenerated on Fri Jan 11 09:14:51 2013